已知三维旋转矢量关系如下:(证明略)
参数说明:
V
i
V_i
Vi表示三维空间矢量
v
=
∣
V
∣
=
V
V
T
v=|V|=\sqrt{VV^T}
v=∣V∣=VVT表示矢量模值
u
u
u为与V同方向的单位矢量即:
∣
u
∣
=
1
|u|=1
∣u∣=1
(1)
V
v
˙
=
V
×
V
×
V
˙
v
+
v
V
˙
V\dot v=\frac{V\times V\times \dot V}{v}+v\dot V
Vv˙=vV×V×V˙+vV˙
(2)
u
˙
=
−
V
×
V
×
V
˙
v
3
\dot u=-\frac{V\times V\times \dot V}{v^3}
u˙=−v3V×V×V˙
(3)
u
˙
×
u
=
V
˙
×
V
v
2
\dot u\times u=\frac{\dot V\times V}{v^2}
u˙×u=v2V˙×V
(4)
ϕ
=
θ
u
\phi=\theta u
ϕ=θu;
ϕ
\phi
ϕ为等效旋转矢量
θ
=
∣
ϕ
∣
\theta=|\phi|
θ=∣ϕ∣
已知:
Q
˙
=
Q
。
w
\dot Q=Q。w
Q˙=Q。w( Q 为4元数;。为4元数乘法;w为b系绕i系的转动速度)
得到:
w
=
u
θ
˙
+
u
˙
s
i
n
θ
+
u
˙
×
u
(
1
−
c
o
s
θ
)
w=u\dot\theta+\dot usin\theta+\dot u\times u(1-cos\theta)
w=uθ˙+u˙sinθ+u˙×u(1−cosθ)
根据公式(1)(4)得到:
u
θ
˙
=
ϕ
×
ϕ
×
ϕ
θ
2
u\dot\theta=\frac{\phi\times\phi\times\phi}{\theta^2}
uθ˙=θ2ϕ×ϕ×ϕ
根据公式(2)得到:
u
˙
=
−
ϕ
×
ϕ
×
ϕ
˙
θ
3
\dot u=-\frac{\phi\times\phi\times\dot\phi}{\theta^3}
u˙=−θ3ϕ×ϕ×ϕ˙
根据公式(3)得到:
u
˙
×
u
=
ϕ
˙
×
ϕ
θ
2
\dot u\times u=\frac{\dot\phi\times\phi}{\theta^2}
u˙×u=θ2ϕ˙×ϕ
令
a
=
−
1
−
c
o
s
θ
θ
2
;
b
=
(
1
−
s
i
n
θ
θ
)
θ
2
a=-\frac{1-cos\theta}{\theta^2};b=\frac{(1-\frac{sin\theta}{\theta})}{\theta^2}
a=−θ21−cosθ;b=θ2(1−θsinθ)将上述带入原式,解得为:
w
=
ϕ
˙
+
a
ϕ
×
ϕ
˙
+
b
(
ϕ
×
)
2
ϕ
˙
w=\dot\phi+a\phi\times\dot\phi+b(\phi\times)^2\dot\phi
w=ϕ˙+aϕ×ϕ˙+b(ϕ×)2ϕ˙
将上述公式两边,左乘
ϕ
×
\phi\times
ϕ×,
(
ϕ
×
)
2
(\phi\times)^2
(ϕ×)2,可以得到如下矩阵(推导过程略):得到
Bortz方程:
ϕ
˙
=
w
+
1
2
ϕ
×
w
+
1
θ
2
(
1
−
θ
2
c
o
t
θ
2
)
(
ϕ
×
)
2
w
\dot\phi=w+\frac{1}{2}\phi\times w+\frac{1}{\theta^2}(1-\frac{\theta}{2}cot\frac{\theta}{2})(\phi\times)^2w
ϕ˙=w+21ϕ×w+θ21(1−2θcot2θ)(ϕ×)2w
展开
c
o
t
θ
2
cot\frac{\theta}{2}
cot2θ:
应满足如下条件:(1)
θ
=
∣
ϕ
∣
\theta=|\phi|
θ=∣ϕ∣为向量时,将
c
o
t
θ
2
cot\frac{\theta}{2}
cot2θ用泰勒级数并忽略高次项
ϕ
˙
=
w
+
1
2
ϕ
×
w
+
1
θ
2
(
1
−
θ
2
(
2
θ
−
1
3
θ
2
−
1
45
(
θ
2
)
3
−
.
.
.
)
)
(
ϕ
×
)
2
w
\dot\phi= w+\frac{1}{2}\phi\times w+\frac{1}{\theta^2}(1-\frac{\theta}{2}(\frac{2}{\theta}-\frac{1}{3}\frac{\theta}{2}-\frac{1}{45}(\frac{\theta}{2})^3-...))(\phi\times)^2w
ϕ˙=w+21ϕ×w+θ21(1−2θ(θ2−312θ−451(2θ)3−...))(ϕ×)2w
≈
w
+
1
2
ϕ
×
w
\approx w+\frac{1}{2}\phi\times w
≈w+21ϕ×w
当
t
1
,
t
2
∈
[
t
m
−
1
,
t
m
]
t_1,t_2\in[t_{m-1},t_m]
t1,t2∈[tm−1,tm]
ϕ
(
t
)
\phi(t)
ϕ(t)从
t
m
−
1
t_{m-1}
tm−1时刻开始的等效旋转矢量的增量
ϕ
(
t
)
=
Δ
θ
(
t
)
+
σ
(
t
)
\phi(t)=\Delta \theta(t)+\sigma(t)
ϕ(t)=Δθ(t)+σ(t)
Δ
θ
(
t
)
=
∫
0
t
w
(
t
1
)
d
t
1
(
不
可
交
换
误
差
)
\Delta \theta(t)=\int_0^tw(t_1)dt_1(不可交换误差)
Δθ(t)=∫0tw(t1)dt1(不可交换误差)
σ
(
t
)
=
∫
0
t
Δ
θ
(
t
1
)
×
w
(
t
1
)
d
t
1
\sigma(t)=\int_0^t\Delta \theta(t_1)\times w(t_1)dt_1
σ(t)=∫0tΔθ(t1)×w(t1)dt1
ϕ
˙
=
w
(
t
)
+
1
2
Δ
ϕ
(
t
)
×
w
(
t
)
\dot\phi=w(t)+\frac{1}{2}\Delta\phi(t)\times w(t)
ϕ˙=w(t)+21Δϕ(t)×w(t)